523 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Part B: Power hydraulics

16.8 Introduction

A low speed high torque hydrostatic motor with closed form rotor and stator
possesses excellent characteristics due to its high output torque to inertia ratio and
simplicity in its construction. It basically consists of internal and external lobes which
intermesh forming closed spaces. These closed form spaces undergo compression
and expansion phases due to the relative motion of the rotor and the stator. One such
type of motor is known as orbit motor where a modified epitrochoid generated rotor
orbits within the fixed stator (associated envelope of the epitrochoid) as shown in
Fig. 16.15 and Fig. 16.16. The rotary flow distributor valve which rotates at the output
speed of the motor, distributes the fluid into the chambers causing the motion of the
rotor which is transmitted to the output shaft by a cardan shaft with gear couplings
at the ends. The valve has alternately placed two groups of ports. One group of ports
supplies pressurized fluid to the appropriate chambers in the expansion mode while
every alternate port provides a flow path for the fluid being returned from the
chambers under compression. The model considered for this analysis, has the valve
integral with the output shaft Fig. 16.15. Design guidelines for such machines,
considering the static characteristics, have already been established (1, 2, 6, 7) 2.
However, the open literature lacks discussion on the dynamic characteristics of this
type of machines.

Fig. 16.15 Fig. 16.16

2
These references are listed at the end of this part
 EXAMPLES OF THERMOPNEUMATIC, POWER HYDRAULIC SYSTEMS…. 524
A bond graph model of such a system must account for the complex geometrical
relations between the compression and expansion of various chambers with shaft
rotation. Owing to the high value of bulk stiffness of the working fluid and the sharp
variations in the chamber pressure, the simulation turns out to be slow. However, the
nature of the solution suggests that apriori assumption of pressure shape functions
satisfying conditions discussed in the following sections lead to a tractable solution.
Such a solution may be of considerable value in the study of the dynamics and the
control of plants driven by an orbit motor.

16.9 The physical system

It is assumed that a large and stable source of flow supplies working fluid to the
input of the motor. The volume of this manifold along with the volume of the
conduit is termed as plenum. The plenum is in turn connected to the chambers of the
motor through the ports which are actuated by the rotary flow distributor valve.

Interchamber leakage flow is assumed to be laminar owing to the close tolerance

between the rotor and the stator lobes at the dividing interface. The input and the
output ports are modeled as nonlinear resistive elements. Flow through these ports
may vary from laminar to turbulent depending on the instantaneous pressure
difference across them.

16.10 Bond graph model

In developing the model the following assumptions have been made.

 Resistive and capacitive effects in the hydraulic path are lumped wherever
appropriate.

 Fluid inertia has been neglected.

 Leakages other than that inside the motor have been ignored.

 Hydraulic resistances up to the inlet port of the motor have also been neglected.

 Effects of the temperature and the pressure on the properties of the fluid are
neglected.

Figure 16.17 shows the bond graph model of the motor considered. Essentially a
hydrostatic motor transforms hydraulic power to mechanical power. This basic fact is
depicted by a set of transformers (seven in this case), the moduli of which are the
ratios of the rate of rotation of the motor shaft to the volume change rate of various
525 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

chambers. Being bilateral in nature, these transformers (indicated in the model as TFj,
where j = 1...7) also relate the shaft torque to the chamber pressure. The load inertia
and the frictional effects appear as I45 and R91 in the model. The element C70 is the
shaft rotation observer. The inlet and the outlet ports are modeled as resistive
elements represented as RI and RE, respectively. The interchamber leakage resistances
are Ri j . The fluid is supplied to the motor from a large source SF1 connected to its
plenum. The effective bulk stiffness of the fluid in the plenum and the chambers are
modeled by the C elements of bulk stiffnesses Kp and Kc, respectively.

Fig. 16.17.
 EXAMPLES OF THERMOPNEUMATIC, POWER HYDRAULIC SYSTEMS….
16.11 Nomenclature
aI = Area of ith chamber at any
instant
A0 = A distance joining the
generating point of unmodified
epitrochoid to the center of the
outer centrode
Avm = Maximum area of the valve
Port
b = Normal width of the rotor and
the stator
Cd = Distance between the centres of
the inner and the outer centrode
Dh = Hydraulic diameter of the valve
port
E = Total energy input to the motor
over a complete cycle
J = Generalized Inertia of the
Kc = Effective bulk stiffness of the
chamber fluid
Kp = Effective bulk stiffness of the
plenum fluid
p = Generalized momentum of the
rotor mass and the load
connected to the motor shaft
Pc = Chamber pressure
Pvl = Valve port length
Pp = Plenum pressure
Pr = Perimeter of the valve port
Pvw = Valve port width
Qc = Charged volume of the
chamber fluid
 = Angle of rotation of Ao with
respect to the X axis fixed on the
inner centrode
t = Overall efficiency of the motor
(theoretical)
ω = Speed of the motor output shaft
ωid = Ideal speed of the motor
Qp = Charged volume of the plenum
fluid
Re = Reynold's number
526
Rl = Resistive load connected at the
output end of the motor
Ril = Inter chamber leakage
resistance
Rin = Linear resistance encountered
Ro = Radius of the outer Centrode
(i.e., the base circle radius of
stator lobes)
REi = Outlet valve port resistance
(ith port)
RI i = Outlet valve port resistance
th
(i port)
rm = Radius of the roller
s = Slip of the motor output shaft
 = Load torque applied at the
output end of the motor
Vs = Flow supplied to the motor
Vi = Rate of volume displacement
of the ith chamber of the motor
with respect to the output shaft
rotation
Vi = Instantaneous swept volume of
the ith chamber of the motor
U(x) = Heaviside function where,
U(x) = 0 for x < 0 and U(x) = 1 for
x0
z = Number of chambers of the
motor
θ = Angle of rotation of the motor
shaft
V = Kinematic viscosity of the Fluid
P = Density of the fluid
 = Overall efficiency of the motor
(actual)
ωa = Actual speed of the motor
ΔPct = Critical pressure across the
valve port at the transition point
() = Super dot indicates time
derivative
527 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Nondimensional parameters

 p  Port factor   0.32 K c R03 Avm

2
/  Pr vpVs  

 


 s  Surge factor   K c K P 


 l  Load factor  Rl Vs

9
K c R0  1 3



  R3 R  
 i  Inertia factor Vs I  0 1 
   

 lk  Leakage factor   K c R03



Vs Ril 

16.12 Transformer moduli

The transformer moduli Vi, (i  1 7) have a general expression which is, in fact,
the rate of change of volume of the chamber with respect to the shaft rotation. This
has been worked out by Maiti (3).

da1 A C
 0 0   z  1 cos  z  1    z  1 cos  z     1i
d 2 i

 
 1 (16.1)
 0.05  i
 rm  R 20  A 20  2 A 20  2 A 0 R 0 cos  z  1   ,
 i

where i  1...... z ,  i     ,  i 1      2 / z

and     2i  1

z
Vi
thus Vi 


dVi
d
da
 b i and V s  
d
V  U V  ,
i 1
i

where U  x   0 for x  0 and U  x   1 for x  0

16.13 Numerical solution

The system equations generated by SYMBOLS from the bond graph can be expressed
as follows.
 EXAMPLES OF THERMOPNEUMATIC, POWER HYDRAULIC SYSTEMS…. 528
z
 
p K
ki 1
c Qck Vk  Rl . (16.2)

 
Q cm  K c Qcm 1  Qcm 2  2Qc / Ril  Vm 
 
 K p Q p  K c Qcm / Rlm  K c Qcm / R Em ,
(16.3)

where m  1...... z , m1  m  1 for mz

and m1  1 for mz

m2  m  1 for m  1 and m2  z for m  1

z
 
Q p K
k 1
pQ p 
 K c Qcm / Rlm  Vs (16.4)

  p/ J . (16.5)

The inlet and the outlet valve port resistances are nonlinear in nature and vary
depending on the pressure differences across them and the rotation of the output
shaft of the motor. The model takes into account both the laminar and the turbulent
flow through the valve port, whichever occurs in the system. On the basis of von
Mises assumption (5), the critical pressure at the transition point is expressed as
follows.

2
 C P 2v 
Pct  2   d r  .
 0.32 Avm 

16.14 Results of numerical solutions

Simulations are performed using the software SYMBOLS with parameters given in
Table 16.2 and Table 16.3.

Table 16.2

Parameter Value Parameter Value Parameter Value

Ao 31.98 mm B 14 mm Co 2.81mm
Pvw 5 mm Pvl 20 mm Ro 19.68 mm
529 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

rm 8 mm Z 7 mm
Table 16.3

Cd 0.62 Rl 1 N. m. sec
J 10–6 kg.m2 Kp 2 × 1010 Pa / m3
V s 7.5 × 10–4 m3 / s Ril 1030 Pa.sec / m3
ρ 950 kg / m3 v 8 × 10–5 m2 / sec
Kc 2 × 1012 Pa / m3

Figure 16.18 shows the pressure variation in a chamber. Figure 16.19 shows the
performance characteristics of the motor for different values of  lk . With

increase of l the strain energy loss increases. Whereas at a low value of

l , the efficiency of the motor is governed by the port characteristics and is

almost independent of the leakage coefficients.

Fig. 16.18. Fig. 16.19.

16.15 Tractable estimation of average steady state behavior

The above model simulates the entire range of performance from transient to steady
state condition. However, due to the system parameters, high bulk stiffness of the
working fluid and the low values of the inertia of the fluid per chamber, the
equations are very stiff and integration becomes difficult. Whereas in most of the
applications assessment of the steady state dynamics may be sufficient and a
tractable estimation of an average steady state behavior of the motor is desired.
 EXAMPLES OF THERMOPNEUMATIC, POWER HYDRAULIC SYSTEMS…. 530
The simulation result shows that the pressures in all the chambers are of similar
shapes with some small fluctuations. Ignoring these small fluctuations they may be
considered as simple rectangular pulses with some weight. Similarly considering the
steady state condition, the plenum pressure and the speed remain constant for a
particular load. These characteristics basically determine the entire performance of
the motor.

The following assumptions are sufficient to determine the participation of weight of

the chamber pressure shapes, plenum pressure and speed of the motor.

 In steady state operation the system comes to the same state after each cycle
of rotation of the output shaft of the motor. Therefore, the overall energy
stored in integrally causalled elements over a complete cycle is equal to
zero.
 The turbulent flow through the valve port is a constant discharge coefficient.
 At the onset of the valve opening, instantaneous energy loss due to the port
resistivity takes place, which invariably equals to the loss of strain energy of
the fluid and is independent of the port characteristics. This is analogous to
the discharging of a capacitor in an electrical switching circuit. The
subsequent pumping out phenomenon, which is comparatively much
slower, follows the process of laminar flow.

Based on the dynamic equations obtained through the bond graph model {equation
(16.2) through (16.5)} and on the basis of the above assumptions the following system
equation is derived.

 dE   dP 
 
2 2
 d  d     d
0   0  d 
 dQ p   z 
 dQci 

0
 2 K p Q p 
 d 
 d   
2 
0 
 i 1
K c Qci 
 d

 d

 (16.6)

1   z 
z

  
1 2
0
 2 
2
 i 1
K c Q 2 ci  d 


 0


 i 1
RlnVi 2  d  0 ,



where the last two terms account for the strain energy loss of the fluid and the
pumping out energy loss through the exhaust port respectively.

Simplifying the above equation we may write


2 Rl  2  z K p Q p  K c Qc  3/ 2
531 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

 2 Vs K p Q p  zK c Qc 2 / 2  v  0 . (16.7)

Detail derivation of the above expression is given in the Appendix.

Considering the flow continuity equation between the plenum and the inlet ports of
the motor we have

 z
 

2 Vs



2 
  C

d Avm Tria   i U Vi   

2 K p Q p – K c QcU Vi /     d
0 0 
 i 1   

On performing the integration the following equation may be arrived at.

K p Q p  K c Qc  2 ,

where 2   2Vs / 7  2 , (16.8)

Tria  i  and  are defined in Appendix.

Similarly considering the overall flow continuity equation between the inlet and
outlet ports of the motor the following relationship may be obtained.

 z 

2
0
(Vs /  ) 

2
0

  Vi U   Vi  d 
 
2
0
 2 K c Qc /  Ril  d .
 i 1 
(16.9)

The last term of the above equation accounts for the inter chamber leakage flow.

Simplification of equation (16.9) yields the following expression

    k  K c Qc  , (16.10)

where   4 /  z Ril  , k  V s Ril / 2 ,

and    2
0
Vi U Vi d .

Substituting equation (16.8) and (16.10) in (16.7) we have

 EXAMPLES OF THERMOPNEUMATIC, POWER HYDRAULIC SYSTEMS…. 532
2
2 Rl  Ril  z Ril3
 2 V s K p Q p Ril  zK c2 Qc2   z  1 K c Qc2Ril / 2  vRil  0
, (16.11)

where Q p   / K p    k    / K c  K c / K p
2

and Qc   k    /  K c 
It may be noted that the consideration of strain energy loss will be significant in the
case of very high load as the fluid considered here has high effective bulk stiffness.
The pumping out energy loss is small due to the properties of the fluid itself.

The steady state performance of the motor can now be expressed as follows.

   
 t  Rl  a2 / K p Q pV s  a / K p Q pV s , i  2V s /  z  ,

Pc  K c Qc Pp  K p Q p and s  id   a  / id .

533 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

16.16 Results of tractable solution

The steady state performance of the motor is found by solving equation (16.11)
numerically. The characteristics of the motor plotted for several input torque (  ) is
shown in Fig. 16.20. For more detail readers may refer Dasgupta et al [13, 14, 15].

Fig. 16.20(a) Fig. 16.20(b)

References

1. Colbourne, J. R., ``Reduction of the Contact Stresses in Internal Gear

Pumps,” ASME Journal of Engineering for Industry, Nov. 1976, pp. 1296-
1300.

2. Maiti, R., ``Distributor Valve Port Sequences in Epitrochoid Generated

Rotary Piston Machine Type Hydrostatic Units,” Archive of Applied
Mechanics, Vol. 62, 1992, pp. 223--229.

3. Maiti, R., and Sinha, G. L., ``Limits on Modification of Epitrochoid used in

Rotary Piston Machines and the Effects of Geometric Volume Displacement
and Ripple,” Ingenieur-Archiv, Vol. 60, 1990, pp. 183-194.

4. Maiti, R., ``Studies on Orbital Rotary Piston `LSHT’ Hydrostatic Motor Low
Speed Performance and Design,” Ph.D Thesis, Department of Mechanical
Engineering, IIT, Kharagpur, 1990a.

5. Martin, H. R., and McCloy, D., 1973, The Control of Fluid Power, Longman,
London.
 EXAMPLES OF THERMOPNEUMATIC, POWER HYDRAULIC SYSTEMS…. 534
6. Nuhan, P. D., and Oledzki, A., ``Konstruktionsgrundlagen von
hydrostatischen Machinen mit zykloidaler Vernahnung und mit einer
Planetenbewegung des Rotors,” Maschinenbautechnik, Vol. 27, No. 5, 1978,
pp. 221-223.

7. Robinson, F. J., and Lyon, J. R., `` An Analysis of Epitrochoidal profiles with

Constant Difference Modification Suitable for Rotary Expanders and
Pumps,” ASME Journal of Engineering for Industry, Vol. 198, no. 1, 1976,
pp. 161-165.

8. Product catalogue of Hydraulic Motor (type OMR/80)-HK. 10.cl.03m

Danfoss, Denmark.

Appendix to Part B

The 1st term of equation (16.6) can be expressed as

 dp 

2
  d  zK c Qc  2 Rl  , (i)
0  d 

 Vi U V  d .
2
where  
0

The 2nd term of equation (16.6) is

 dQ p 

2
K pQ p   d
0  d 

 zK pQ p   K pQ p 
 K cQc   2Vs K pQ p /  ,

 C d Avm Tria   i Vi U Vi

2
where   2 /  d . (ii)
0

In the above equation (ii), the function Tria(θ), is the triangular shape function which
describes the opening area of the inlet and outlet ports of the valve for the ith chamber
when multiplied by the maximum port area.

The 3rd term of equation (16.6) may be written as follows.

535 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

 z  
 
 
2   dQci
K c Qci 

 d  z  K c Qc  K c Qc / Ril       K p Q p  K c Qc   /  
0 
 i 1  d
 
    
, iii)

 U Vi1  U Vi1   U Vi1   U Vi d .

2
where  
0

The 4th term of the equation (16.6) is

  K 
z
2 2
c Q ci / 2 d  z  z  1 K c Q 2 c / 2 . (iv)
0
i 1

The 5th term of the equation (16.6) may be expressed as

 z 

2 
 RlnVi2 /   d  zR ln / , (v)
0  i 1 

 Vi 2 U Vi d
2
where   .
0

Substitution of equation (i) through (v) in equation (16.6) and simplification leads to
equation 16.7.